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Authors: Mirgita Frasheri 1 ; Lukas Esterle 2 and Alessandro Vittorio Papadopoulos 1

Affiliations: 1 Mälardalen University, Västerås, Sweden ; 2 Aarhus University, DIGIT, Aarhus, Denmark

Keyword(s): Robot Collaboration, κ-Coverage Problem, Adaptive Autonomy.

Abstract: When multiple robots are required to collaborate in order to accomplish a specific task, they need to be coordinated in order to operate efficiently. To allow for scalability and robustness, we propose a novel distributed approach performed by autonomous robots based on their willingness to interact with each other. This willingness, based on their individual state, is used to inform a decision process of whether or not to interact with other robots within the environment. We study this new mechanism to form coalitions in the on-line multi-object κ-coverage problem, and compare it with six other methods from the literature. We investigate the trade-off between the number of robots available and the number of potential targets in the environment. We show that the proposed method is able to provide comparable performance to the best method in the case of static targets, and to achieve a higher level of coverage with respect to the other methods in the case of mobile targets.

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Paper citation in several formats:
Frasheri, M.; Esterle, L. and Papadopoulos, A. (2020). Modeling the Willingness to Interact in Cooperative Multi-robot Systems. In Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-395-7; ISSN 2184-433X, SciTePress, pages 62-72. DOI: 10.5220/0008951900620072

@conference{icaart20,
author={Mirgita Frasheri. and Lukas Esterle. and Alessandro Vittorio Papadopoulos.},
title={Modeling the Willingness to Interact in Cooperative Multi-robot Systems},
booktitle={Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2020},
pages={62-72},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008951900620072},
isbn={978-989-758-395-7},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Modeling the Willingness to Interact in Cooperative Multi-robot Systems
SN - 978-989-758-395-7
IS - 2184-433X
AU - Frasheri, M.
AU - Esterle, L.
AU - Papadopoulos, A.
PY - 2020
SP - 62
EP - 72
DO - 10.5220/0008951900620072
PB - SciTePress

- Science and Technology Publications, Lda.
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